With the proliferation of commodity RGB-D cameras, the recent decade has witnessed a booming of online RGB-D reconstruction techniques. Since the seminal work of KinectFusion [1]}, a huge body of works have been proposed based either on volumetric depth fusion [2]}, [3]} or point-based fusion [4]}, [5]}. Despite the significantly advanced frontier on reconstruction quality and scalability, the prior systems have hereunto been restrained to slow camera motions, typically less than 1m/s. Under faster camera motions, the RGB-D reconstruction could easily collapse due to drastically increased difficulties in tracking and mapping. This has greatly limited the practical use of these techniques especially in autonomous scanning and reconstruction by, e.g., UAVs.
